Quick-change end effector

ABSTRACT

An end effector for interfacing with a nozzle is disclosed. The end effector comprises a first end, which includes a receptacle. The end effector comprises one or more retention features positioned along a perimeter of the receptacle, where each of the one or more retention features is movable between a first position and a second position. Each of the one or more retention features is configured to lock the nozzle by securing onto a corresponding one of the one or more nozzle retention features in the first position, and to release the nozzle in the second position. The end effector may further comprise one or more actuators and a first channel, which includes a first inlet and a first outlet. A method of using an end effector to interface with a nozzle is also disclosed.

INCORPORATION BY REFERENCE

All publications and patent applications mentioned in this specificationare incorporated herein by reference in their entirety to the sameextent as if each individual publication or patent application wasspecifically and individually indicated to be incorporated by reference,including: U.S. patent application Ser. No. 15/975,679, titled“MULTI-CIRCUIT SINGLE PORT DESIGN IN ADDITIVELY MANUFACTURED NODE”,filed on May 9, 2018.

BACKGROUND Field

The present disclosure generally relates to additively manufactured endeffectors, and more specifically to additively manufactured endeffectors for fluid interfaces in additively manufactured nodes.

Background

Nodes perform important connection functions between various componentsin transport structures. The nodes may be bonded to other componentsincluding tubes, extrusions, panels, and other nodes. For example, nodescan be used to perform connections for panels. A transport structuresuch as an automobile, truck or aircraft employs a large number ofinterior and exterior panels. Most panels must be coupled to, orinterface with, other panels or other structures in secure,well-designed ways. These connection types may be accomplished by usingnodes. The nodes, or joint members, may serve not only to attach to,interface with, and secure the panel, but they also may be used to formconnections to other components of the automobile (e.g., another panel,an extrusion, tubes, other nodes, etc.).

The design and manufacture of end effectors for interfacing with nozzlesof the nodes has several problems. For example, the end effectors areoften specialized structures requiring intricate sub-substructures. Itis often extremely difficult to manufacture these types of complexstructures efficiently or cheaply using traditional manufacturingprocesses. For another example, in the manufacturing process, there area large number of nodes, the conventional interfaces with the nozzles ofthe nodes may be too time consuming and may not be efficient for massassembly.

There is a need to develop efficient end effectors with increasedsophistication and superior capabilities for the interface nozzles,specifically, for the nozzles of the nodes of transport structures toimplement potentially high-performance applications at manageable pricepoints.

SUMMARY

End effectors for interfacing with the nozzles of the nodes, includingthe nodes for transport structures, and the additive manufacture thereofwill be described more fully hereinafter with reference to variousillustrative aspects of the present disclosure.

In one aspect of the disclosure, an end effector for interfacing with anozzle is provided. The end effector comprises a first end, whichincludes a receptacle. The receptacle is configured to receive thenozzle. The nozzle includes one or more nozzle retention features and afirst nozzle inlet. The end effector comprises one or more retentionfeatures positioned along a perimeter of the receptacle, where each ofthe one or more retention features is movable between a first positionand a second position. Each of the one or more retention features isconfigured to lock the nozzle by securing onto a corresponding one ofthe one or more nozzle retention features in the first position, and torelease the nozzle in the second position. The end effector may furthercomprise one or more actuators configured to actuate the one or moreretention features between the first position and the second position.The end effector comprises a first channel, which includes a first inletand a first outlet. The first outlet is positioned inside the receptacleand is configured to be coupled to the first nozzle inlet in the firstposition.

In another aspect of the disclosure, a method of using an end effectorto interface with a nozzle is provided. The method comprises receivingthe nozzle in a receptacle of the end effector. The method comprisesactuating one or more retention features of the end effector to a firstposition to secure onto a corresponding one of one or more nozzleretention features to lock the nozzle. The method comprises applyingvacuum to a second inlet of the end effector, where a second outlet ofthe end effector is coupled to a second nozzle inlet. The methodcomprises injecting a first fluid to a first inlet of the end effector,wherein a first outlet of the end effector is coupled to a first nozzleinlet.

It will be understood that other aspects of nodes for connecting withvarious components in transport structures and the manufacture thereofwill become readily apparent to those skilled in the art from thefollowing detailed description, wherein it is shown and described onlyseveral embodiments by way of illustration. As will be realized by thoseskilled in the art, the disclosed subject matter is capable of other anddifferent embodiments and its several details are capable ofmodification in various other respects, all without departing from theinvention. Accordingly, the drawings and detailed description are to beregarded as illustrative in nature and not as restrictive.

BRIEF DESCRIPTION OF THE DRAWINGS

Various aspects of nodes in transport structures and the manufacturethereof will now be presented in the detailed description by way ofexample, and not by way of limitation, in the accompanying drawings,wherein:

FIG. 1 illustrates an exemplary embodiment of certain aspects of aDirect Metal Deposition (DMD) 3-D printer.

FIG. 2 illustrates a conceptual flow diagram of a 3-D printing processusing a 3-D printer.

FIGS. 3A-D illustrate an exemplary powder bed fusion (PBF) system duringdifferent stages of operation.

FIG. 4 illustrates a cross-section view of an example of a single portnode for bonding to various components.

FIG. 5A illustrates a cross-section view of a two-channel nozzle for thesingle port node in FIG. 4.

FIG. 5B illustrates a perspective view of the two-channel nozzle in FIG.5A.

FIG. 6A illustrates a cross-section view of a three-channel nozzle forthe single port node in FIG. 4.

FIG. 6B illustrates another cross-section view of the three-channelnozzle in FIG. 6A.

FIG. 7A illustrates a nozzle including a plurality of regions forreceiving O-Rings/sealants.

FIG. 7B illustrates a bottom view of a nozzle with a plurality of thirdoutlets.

FIG. 7C illustrates a bottom view of a nozzle with a plurality of thirdoutlets.

FIG. 8 is a flow diagram of an example method of using a single portnode.

FIG. 9A illustrates a perspective view of an example of a single portnode for bonding to various components.

FIG. 9B illustrates a top view of the single port node in FIG. 9A.

FIG. 9C illustrates another perspective view of the single port node inFIG. 9A.

FIG. 10 illustrates a side view of an example of an end effector forinterfacing with a nozzle according to one embodiment of thisdisclosure.

FIG. 11A illustrates a top view of the end effector in FIG. 10 in afirst position.

FIG. 11B illustrates another top view of the end effector in FIG. 10 ina second position.

FIG. 12 illustrates a perspective view of the end effector in FIG. 10.

FIG. 13 is a flow diagram of an example method of using an end effectorto interface with a nozzle.

DETAILED DESCRIPTION

The detailed description set forth below in connection with the appendeddrawings is intended to provide a description of various exemplaryembodiments and is not intended to represent the only embodiments inwhich the invention may be practiced. The terms “example” and“exemplary” used throughout this disclosure mean “serving as an example,instance, or illustration,” and should not necessarily be construed aspreferred or advantageous over other embodiments presented in thisdisclosure. The detailed description includes specific details for thepurpose of providing a thorough and complete disclosure that fullyconveys the scope of the invention to those skilled in the art. However,the invention may be practiced without these specific details. In someinstances, well-known structures and components may be shown in blockdiagram form, or omitted entirely, in order to avoid obscuring thevarious concepts presented throughout this disclosure. In addition, thefigures may not be drawn to scale and instead may be drawn in a way thatattempts to most effectively highlight various features relevant to thesubject matter described.

This disclosure is generally directed an end effector for interfacingwith a nozzle. The end effector comprises a first end, which includes areceptacle. The receptacle is configured to receive the nozzle. Thenozzle includes one or more nozzle retention features and a first nozzleinlet. The end effector comprises one or more retention featurespositioned along a perimeter of the receptacle, where each of the one ormore retention features is movable between a first position and a secondposition. Each of the one or more retention features is configured tolock the nozzle by securing onto a corresponding one of the one or morenozzle retention features in the first position, and to release thenozzle in the second position. The end effector may further comprise oneor more actuators configured to actuate the one or more retentionfeatures between the first position and the second position. The endeffector comprises a first channel, which includes a first inlet and afirst outlet. The first outlet is positioned inside the receptacle andis configured to be coupled to the first nozzle inlet in the firstposition.

In many cases, the nodes, and other structures described in thisdisclosure may be formed using additive manufacturing (AM) techniques,due in part to AM's innumerable advantages as articulated below.Accordingly, certain exemplary AM techniques that may be relevant to theformation of the nodes described herein will initially be discussed. Itshould be understood, however, that numerous alternative manufacturingtechniques, both additive and conventional, may instead be used informing the nodes (in part or in whole) disclosed herein, and that theidentified nodes need not be limited to the specific AM techniquesbelow.

Those that stand to benefit from the structures and techniques in thisdisclosure include, among others, manufacturers of virtually anymechanized form of transport, which often rely heavily on complex andlabor-intensive tooling, and whose products often require thedevelopment of nodes, panels, and interconnects to be integrated withintricate machinery such as combustion engines, transmissions andincreasingly sophisticated electronics. Examples of such transportstructures include, among others, trucks, trains, tractors, boats,aircraft, motorcycles, busses, and the like.

Additive Manufacturing (3-D Printing). Additive manufacturing (AM) isadvantageously a non-design specific manufacturing technique. AMpresents various opportunities to realize structural and non-structuralconnections between various components. AM provides the ability tocreate complex structures within a part. For example, nodes can beproduced using AM. A node is a structural member that may include one ormore interfaces used to connect to other spanning components such astubes, extrusions, panels, other nodes, and the like. Using AM, a nodemay be constructed to include additional features and functions,depending on the objectives. For example, a node may be printed with oneor more ports that enable the node to secure two parts by injecting anadhesive rather than welding multiple parts together, as istraditionally done in manufacturing complex products. Alternatively,some components may be connected using a brazing slurry, athermoplastic, a thermoset, or another connection feature, any of whichcan be used interchangeably in place of an adhesive. Thus, while weldingtechniques may be suitable with respect to certain embodiments, AMprovides significant flexibility in enabling the use of alternative oradditional connection techniques. AM provides the platform to printcomponents with complex internal channels and geometries, some of whichare impossible to manufacture using conventional manufacturingtechniques.

A variety of different AM techniques have been used to 3-D printcomponents composed of various types of materials. Numerous availabletechniques exist, and more are being developed. For example, DirectedEnergy Deposition (DED) AM systems use directed energy sourced fromlaser or electron beams to melt metal. These systems utilize both powderand wire feeds. The wire feed systems advantageously have higherdeposition rates than other prominent AM techniques. Single Pass Jetting(SPJ) combines two powder spreaders and a single print unit to spreadmetal powder and to print a structure in a single pass with apparentlyno wasted motion. As another illustration, electron beam additivemanufacturing processes use an electron beam to deposit metal via wirefeedstock or sintering on a powder bed in a vacuum chamber. Single PassJetting is another exemplary technology claimed by its developers to bemuch quicker than conventional laser-based systems. Atomic DiffusionAdditive Manufacturing (ADAM) is still another recently developedtechnology in which components are printed, layer-by-layer, using ametal powder in a plastic binder. After printing, plastic binders areremoved and the entire part is sintered at once into a desired metal.

One of several such AM techniques, as noted, is DMD. FIG. 1 illustratesan exemplary embodiment of certain aspects of a DMD 3-D printer 100. DMDprinter 100 uses feed nozzle 102 moving in a predefined direction 120 topropel powder streams 104 a and 104 b into a laser beam 106, which isdirected toward a workpiece 112 that may be supported by a substrate.Feed nozzle may also include mechanisms for streaming a shield gas 116to protect the welded area from oxygen, water vapor, or othercomponents.

The powdered metal is then fused by the laser 106 in a melt pool region108, which may then bond to the workpiece 112 as a region of depositedmaterial 110. The dilution area 114 may include a region of theworkpiece where the deposited powder is integrated with the localmaterial of the workpiece. The feed nozzle 102 may be supported by acomputer numerical controlled (CNC) robot or a gantry, or othercomputer-controlled mechanism. The feed nozzle 102 may be moved undercomputer control multiple times along a predetermined direction of thesubstrate until an initial layer of the deposited material 110 is formedover a desired area of the workpiece 112. The feed nozzle 102 can thenscan the region immediately above the prior layer to deposit successivelayers until the desired structure is formed. In general, the feednozzle 102 may be configured to move with respect to all three axes, andin some instances to rotate on its own axis by a predetermined amount.

FIG. 2 is a flow diagram 200 illustrating an exemplary process of 3-Dprinting. A data model of the desired 3-D object to be printed isrendered (step 210). A data model is a virtual design of the 3-D object.Thus, the data model may reflect the geometrical and structural featuresof the 3-D object, as well as its material composition. The data modelmay be created using a variety of methods, including CAE-basedoptimization, 3D modeling, photogrammetry software, and camera imaging.CAE-based optimization may include, for example, cloud-basedoptimization, fatigue analysis, linear or non-linear finite elementanalysis (FEA), and durability analysis.

3-D modeling software, in turn, may include one of numerous commerciallyavailable 3-D modeling software applications. Data models may berendered using a suitable computer-aided design (CAD) package, forexample in an STL format. STL is one example of a file format associatedwith commercially available stereolithography-based CAD software. A CADprogram may be used to create the data model of the 3-D object as an STLfile. Thereupon, the STL file may undergo a process whereby errors inthe file are identified and resolved.

Following error resolution, the data model can be “sliced” by a softwareapplication known as a slicer to thereby produce a set of instructionsfor 3-D printing the object, with the instructions being compatible andassociated with the particular 3-D printing technology to be utilized(step 220). Numerous slicer programs are commercially available.Generally, the slicer program converts the data model into a series ofindividual layers representing thin slices (e.g., 100 microns thick) ofthe object be printed, along with a file containing the printer-specificinstructions for 3-D printing these successive individual layers toproduce an actual 3-D printed representation of the data model.

The layers associated with 3-D printers and related print instructionsneed not be planar or identical in thickness. For example, in someembodiments depending on factors like the technical sophistication ofthe 3-D printing equipment and the specific manufacturing objectives,etc., the layers in a 3-D printed structure may be non-planar and/or mayvary in one or more instances with respect to their individualthicknesses.

A common type of file used for slicing data models into layers is aG-code file, which is a numerical control programming language thatincludes instructions for 3-D printing the object. The G-code file, orother file constituting the instructions, is uploaded to the 3-D printer(step 230). Because the file containing these instructions is typicallyconfigured to be operable with a specific 3-D printing process, it willbe appreciated that many formats of the instruction file are possibledepending on the 3-D printing technology used.

In addition to the printing instructions that dictate what and how anobject is to be rendered, the appropriate physical materials necessaryfor use by the 3-D printer in rendering the object are loaded into the3-D printer using any of several conventional and often printer-specificmethods (step 240). In DMD techniques, for example, one or more metalpowders may be selected for layering structures with such metals ormetal alloys. In selective laser melting (SLM), selective lasersintering (SLS), and other PBF-based AM methods (see below), thematerials may be loaded as powders into chambers that feed the powdersto a build platform. Depending on the 3-D printer, other techniques forloading printing materials may be used.

The respective data slices of the 3-D object are then printed based onthe provided instructions using the material(s) (step 250). In 3-Dprinters that use laser sintering, a laser scans a powder bed and meltsthe powder together where structure is desired, and avoids scanningareas where the sliced data indicates that nothing is to be printed.This process may be repeated thousands of times until the desiredstructure is formed, after which the printed part is removed from afabricator. In fused deposition modelling, as described above, parts areprinted by applying successive layers of model and support materials toa substrate. In general, any suitable 3-D printing technology may beemployed for purposes of this disclosure.

Another AM technique includes powder-bed fusion (“PBF”). Like DMD, PBFcreates ‘build pieces’ layer-by-layer. Each layer or ‘slice’ is formedby depositing a layer of powder and exposing portions of the powder toan energy beam. The energy beam is applied to melt areas of the powderlayer that coincide with the cross-section of the build piece in thelayer. The melted powder cools and fuses to form a slice of the buildpiece. The process can be repeated to form the next slice of the buildpiece, and so on. Each layer is deposited on top of the previous layer.The resulting structure is a build piece assembled slice-by-slice fromthe ground up.

FIGS. 3A-D illustrate respective side views of an exemplary PBF system300 during different stages of operation. As noted above, the particularembodiment illustrated in FIGS. 3A-D is one of many suitable examples ofa PBF system employing principles of this disclosure. It should also benoted that elements of FIGS. 3A-D and the other figures in thisdisclosure are not necessarily drawn to scale, but may be drawn largeror smaller for the purpose of better illustration of concepts describedherein. PBF system 300 can include a depositor 301 that can deposit eachlayer of metal powder, an energy beam source 303 that can generate anenergy beam, a deflector 305 that can apply the energy beam to fuse thepowder, and a build plate 307 that can support one or more build pieces,such as a build piece 309. PBF system 300 can also include a build floor311 positioned within a powder bed receptacle. The walls of the powderbed receptacle 312 generally define the boundaries of the powder bedreceptacle, which is sandwiched between the walls 312 from the side andabuts a portion of the build floor 311 below. Build floor 311 canprogressively lower build plate 307 so that depositor 301 can deposit anext layer. The entire mechanism may reside in a chamber 313 that canenclose the other components, thereby protecting the equipment, enablingatmospheric and temperature regulation and mitigating contaminationrisks. Depositor 301 can include a hopper 315 that contains a powder317, such as a metal powder, and a leveler 319 that can level the top ofeach layer of deposited powder.

Referring specifically to FIG. 3A, this figure shows PBF system 300after a slice of build piece 309 has been fused, but before the nextlayer of powder has been deposited. In fact, FIG. 3A illustrates a timeat which PBF system 300 has already deposited and fused slices inmultiple layers, e.g., 150 layers, to form the current state of buildpiece 309, e.g., formed of 150 slices. The multiple layers alreadydeposited have created a powder bed 321, which includes powder that wasdeposited but not fused.

FIG. 3B shows PBF system 300 at a stage in which build floor 311 canlower by a powder layer thickness 323. The lowering of build floor 311causes build piece 309 and powder bed 321 to drop by powder layerthickness 323, so that the top of the build piece and powder bed arelower than the top of powder bed receptacle wall 312 by an amount equalto the powder layer thickness. In this way, for example, a space with aconsistent thickness equal to powder layer thickness 323 can be createdover the tops of build piece 309 and powder bed 321.

FIG. 3C shows PBF system 300 at a stage in which depositor 301 ispositioned to deposit powder 317 in a space created over the topsurfaces of build piece 309 and powder bed 321 and bounded by powder bedreceptacle walls 312. In this example, depositor 301 progressively movesover the defined space while releasing powder 317 from hopper 315.Leveler 319 can level the released powder to form a powder layer 325that has a thickness substantially equal to the powder layer thickness323 (see FIG. 3B). Thus, the powder in a PBF system can be supported bya powder support structure, which can include, for example, a buildplate 307, a build floor 311, a build piece 309, walls 312, and thelike. It should be noted that the illustrated thickness of powder layer325 (i.e., powder layer thickness 323 (FIG. 3B)) is greater than anactual thickness used for the example involving 350 previously-depositedlayers discussed above with reference to FIG. 3A.

FIG. 3D shows PBF system 300 at a stage in which, following thedeposition of powder layer 325 (FIG. 3C), energy beam source 303generates an energy beam 327 and deflector 305 applies the energy beamto fuse the next slice in build piece 309. In various exemplaryembodiments, energy beam source 303 can be an electron beam source, inwhich case energy beam 327 constitutes an electron beam. Deflector 305can include deflection plates that can generate an electric field or amagnetic field that selectively deflects the electron beam to cause theelectron beam to scan across areas designated to be fused. In variousembodiments, energy beam source 303 can be a laser, in which case energybeam 327 is a laser beam. Deflector 305 can include an optical systemthat uses reflection and/or refraction to manipulate the laser beam toscan selected areas to be fused.

In various embodiments, the deflector 305 can include one or moregimbals and actuators that can rotate and/or translate the energy beamsource to position the energy beam. In various embodiments, energy beamsource 303 and/or deflector 305 can modulate the energy beam, e.g., turnthe energy beam on and off as the deflector scans so that the energybeam is applied only in the appropriate areas of the powder layer. Forexample, in various embodiments, the energy beam can be modulated by adigital signal processor (DSP).

One aspect of this disclosure presents a node for enabling connection ofvarious components of transport structures. The node may include a portextending inwardly from a surface to form a recess. The node may furtherinclude an inlet aperture disposed inside the port and an outletaperture disposed inside the port. The inlet aperture is configured toreceive a fluid injected into at least one region to be filled by thefluid. The outlet aperture is configured to enable the fluid to flow outof the at least one region. The port is configured to receive a nozzleto enable injection of the fluid and removal of the fluid. For example,the fluid can be an adhesive configured to bond various componentstogether. In an embodiment, at least one connection of the node may be apart of a vehicle chassis. This type of node connection may incorporateadhesive bonding between the node and the component to realize theconnection. Sealants may be used to provide adhesive regions foradhesive injection. In an exemplary embodiment, a seal may act as anisolator to inhibit potential galvanic corrosion caused, e.g., by thechronic contact between dissimilar materials.

FIG. 4 illustrates a cross-sectional view of an example of a single portnode 400 for bonding to various components according to one embodimentof this disclosure. The node 400 can include a port 402, an inletaperture 404 and an outlet aperture 406. For example, the port 402 mayextend inwardly from an external surface 403 to form a recess. The inletaperture 404 is disposed inside the port 402 and configured to receive afluid 408 injected into at least one region to be filled by the fluid.For example, the fluid may be an adhesive configured to bond to variouscomponents through at least one adhesive region. The outlet aperture 406is disposed inside the port 402 and configured to enable the fluid 408to flow out of the at least one region. The port 402 is configured toreceive a nozzle to enable injection and removal of the fluid 408.Adhesive is used below as an example in this disclosure for the fluid,however, the fluid can be any other fluid as well.

The port 402 may additionally be a vacuum port for applying negativepressure to draw the adhesive towards the outlet aperture 406 to whichthe port is coupled. The outlet aperture 406 is configured to be coupledto a negative pressure source, and the port 402 is configured to be bothan injection port and a vacuum port. While the adhesive applicationprocess in this disclosure may include a combination of vacuum andadhesive applications, the disclosure is not limited as such, andadhesive may in some exemplary embodiments be injected without use ofnegative pressure. In these cases, the positive pressure causing theadhesive flow may be sufficient to fill the adhesive regions.

As shown in FIG. 4, the single port 402 may be utilized for both theadhesive inlet and outlet operations. The port 402 may be in acylindrical shape and extend in an axial direction in some embodiments.In some other embodiments, the port can be in a conical shape, a cubicshape, or any other shape. In some alternative embodiments, the port maybe a protrusion extending upwardly from the external surface 403 with arecess in a central portion of the protrusion that includes theapertures or other structures. The ports may also include protrusionsbuilt in surrounding holes, such that the tips of the protrusions may beflush with or proximate in height to the external surface of the node.In embodiments utilizing protruding ports, the ports may optionally befabricated with the intent of being broken off upon completion of thebonding process, which may also reduce mass and volume of thecorresponding node or other structure that includes the ports. Forexample, the port may have other configurations as well. For purposes ofthis disclosure, “port” may be broadly construed to include either arecess or protrusion in a structure, along with their constituentaperture(s), that receives or provides a substance (including, e.g.,fluids, gasses, powders, etc.), and therefore “port” would encompass anyof the embodiments discussed above.

As shown in FIG. 4, two apertures 404 and 406 are disposed inside theport 402. The adhesive inlet aperture 404 is configured for receivingadhesive 408 injected into the channel 407 and toward the adhesiveregions. The adhesive outlet aperture 406 is configured for removing theadhesive 408 from the channel 407 and/or for determining whether andwhen the adhesive 408 has substantially filled the necessary regions ofthe node or structure. For example, the inlet aperture 404 is disposedon a side wall of the port 402. Thus, the adhesive 408 is injected intothe channel 407 by a positive pressure perpendicular to an axialdirection 401 of the port 402. This would advantageously prevent thedisplacement of the nozzle during the adhesive injection process. If theadhesive is injected along the axial direction 401 of the port 402, theinjection pressure may push the effector or applicator for injecting theadhesive out of the port. Thus in this embodiment, the adhesiveinjection is perpendicular to the axial direction 401.

The outlet aperture 406 may disposed on a bottom of the port 402. Insome embodiments, the node 400 may further include a second inletaperture disposed inside the port 402, for example, on the side wall ofthe port 402. In some embodiments, the node 400 may further include aplurality of inlet apertures disposed inside the port 402. For example,the plurality of inlet apertures may be disposed circumferentiallyaround the port 402. Similarly, in some embodiments, the node 400 mayfurther include a second outlet aperture disposed inside the port 402,for example, on the bottom of the port 402. In some embodiments, thenode 400 may further include a plurality of outlet apertures disposedinside the port 402. For example, the plurality of outlet apertures maybe disposed in the bottom of the port 402. It will also be noted in thissimplified embodiment that, while the adhesive 408 is shown as flowingfrom input aperture 404 through a short channel 407 to outlet aperture406, in practice, the adhesive 408 may be designed to flow through adesired region of the node 400 where the adhesive 408 is needed. Thus,the short channel 407 may instead be a long channel or series ofchannels coupled intermediately to one or more adhesive bond regions,which are spaces or regions of the node 400 desired for adhesivedeposit. These details are omitted from the view of FIG. 4 forsimplicity and clarity.

There are many possible variations and configurations of the locationand arrangement of the inlet aperture 404 and the outlet aperture 406.The above example is for illustration purposes only and is not intendedto limit the scope of the disclosure. In some embodiments, the inlet andoutlet apertures 404 and 406 may have a diameter of 1 mm or greater,although smaller values are possible and may be equally suitable in someembodiments. For example, the inlet and outlet apertures 404 and 406 mayhave a diameter between 1 mm and 30 mm in an embodiment. The inlet andoutlet apertures may have the same or different diameters. The inlet andoutlet apertures 404 and 406 need not have the same shape, and may beshaped in geometries other than elliptical geometries. For example, theapertures 404 and 406 may be rectangular or otherwise arbitrarilyshaped. In some cases, the shape of the apertures 404 and 406 coincideswith the shape of one or more portions of the channels that join them.The port 402 may have a cylindrical shape or any other shape. The inletaperture and the outlet aperture may have any suitable shape as noted.The port may also include any other shape, such as a cubic shape, aconical shape, or any arbitrary shape.

The node 400 may further include at least one channel 407 extending fromthe adhesive inlet aperture 404 to the at least one adhesive bond region(not shown) and further to the adhesive outlet aperture 406. The port402 is coupled to the channel 407 through both the adhesive inletaperture 404 and the adhesive outlet aperture 406 disposed inside theport 402. Instead of having two separate ports for injection and removalof the adhesive as is the conventional practice, the adhesive inletaperture 404 inside the port 402 receives injection of the adhesive, andthe adhesive outlet aperture 406 inside the same port 402 performsremoval of the adhesive (or, in other embodiments, a visual, tactile orother indication that the adhesive is full so that the injectionoperation can be ended e.g., when the adhesive begins to exit aperture406). In this way, the single port 402 performs the functions of bothinjection and removal of the adhesive. The channel(s) 407 may extendfrom the adhesive inlet aperture 404, may travel through the node 400 toapply adhesive to the bond region(s), and may be coupled to the adhesiveoutlet aperture 406. For example, the channel may be an ellipticalchannel that traverses the node in a desired location and may connect toa wider or bigger bond region, and then may be routed from the bondregion as a similarly-shaped elliptical channel to the adhesive outletaperture 406. In some embodiments, multiple parallel channels may beemployed as an alternative to a single, segmented channel. Moreover, thediameter of the channels can be varied along their lengths. Thesestructures can advantageously be manufactured using AM techniqueswithout requiring any significant post-processing operations.

In other embodiments, adhesive inlet aperture 404 may comprise more thanone aperture and may receive injected adhesive 408 in parallel. Withreference to the single-port embodiment of FIG. 4, for example, theinlet aperture 404 may in these embodiments comprise a plurality ofinlet apertures disposed along a designated circumference of thecylindrical region of the port. In addition, in these or otherembodiments, more than one adhesive outlet aperture may be arranged on abottom portion of the cylindrical region. These one or more apertures404 and/or 406 may correspond to one or more channels 407 for deliveringadhesive to and from the adhesive bond region(s). In still otherembodiments, as noted above, each of the one or more apertures and/orchannels may include a variety of geometries, as suitable for theapplication.

The channel 407 may be a part of the node 400 and may be additivelymanufactured using any suitable AM technique. The channel 407 maycomprise multiple channel portions after it enters and then exits anadhesive region. Depending on the embodiment and whether adhesive isinjected serially or in parallel, the node may be considered to have oneor more channels as described above. In general, the design of thechannels may enable sequential flow of the adhesive into specificadhesive bond regions between an inner surface of the node and an outersurface of a component intended to be connected to the node.

The node may also be extended, elongated, or shaped in any way to enablemultiple sets of interface regions (i.e., sets of one or more adhesivebond regions with sealants and channels as described above to realize aconnection) to exist on a single node. For example, in one embodiment,the node is rectangular, with separate interfaces on two or more sidesof the rectangular node connecting to different panels via the adhesiveprocess and techniques described above. In other embodiments, nodes maybe constructed to have interface regions in close proximity so that tworespective panels may be spaced very closely, or so that the panels maymake contact. Numerous embodiments and geometries of the node may becontemplated.

To better facilitate assembly, the node may be printed in two or moreparts, with the two or more parts being connected together prior toadhesive injection. The node may constitute additional features, such asconnection features to other structures or other structural orfunctional features that are not explicitly shown in the illustrationsherein to avoid unduly obscuring the concepts of the disclosure. Theseadditional features of the node may cause portions of the node to take adifferent shape or may add structures and geometrical features that arenot present in the illustrations herein. These additional features andstructures may be additively manufactured along with the remainder ofthe node, although this may not necessarily be the case, as in someapplications, traditional manufacturing techniques such as casting ormachining may be used.

Advantageously, the single port design of the node 400 is efficient, asthe port 402 is configured to perform multiple functions, such as anadhesive inlet port and an adhesive outlet port. The port 402 of thenode 400 enables the adhesive injection process and removal processthrough a single port. The port 402 is both an entry point and an exitpoint for the adhesive 408 or other fluids. In some embodiments, theport 402 is further a vacuum port where the adhesive outlet port isconnected to a negative pressure source. In other embodiments, the port402 need not be a vacuum port but may, for example, be an exit point forexcess adhesive.

The single port node 400 is further advantageous to reduce thecomplexity of the adhesive applicator system, which may in someembodiments include a nozzle for performing the adhesiveinjection/vacuum procedure. Only one nozzle is required to draw a vacuum(where desired), inject the adhesive and remove the excessive adhesive.This procedure is in contrast to conventional multi-port designs. Thenozzle can further have the ability to allow for the transfer of two ormore fluids through the port 402. This would make the single port designconducive to embodiments wherein other fluids, for example, sealants,may be used to cap off the port after adhesive injection.

The single port node 400 is further advantageous in that it reduces thecomplexity of designing an automated system for applying adhesives. Asan example, the nozzle for applying adhesive may be carried or used by arobot. Since the robots would have to interface with just one port, therobots can be leaner and more compact than may otherwise be required ina conventional assembly system requiring multiple ports. Furthermore,because assembly systems often involve a large number of nodes, thesingle port node can greatly increase the efficiency of the assemblyprocess.

A plurality of nozzles, or interface nozzles, may be utilized with thenodes having a single port for adhesive as described above. The terms“nozzle” and ‘interface nozzle” are used interchangeably in thisdisclosure. The nozzles may include a plurality of channels, dependingon the number of materials used in the adhesive injection process orother factors. O-Rings or other seals may be utilized to obtain a sealedinterface between the surface of the port on the node, and the nozzle.This sealed interface would ensure that the adhesive injection processoccurs in a sealed manner. This sealed interface is particularlyadvantageous in embodiments utilizing a vacuum connection during theadhesive injection process. The nozzles may be additively manufactured.

FIG. 5A illustrates a cross-section view of a two-channel nozzle 500 forthe single port node 400, where the nozzle 500 is connected to the node400. FIG. 5B illustrates a perspective view of the two-channel nozzle500. Referring to FIG. 5A and FIG. 5B, the nozzle 500 includes a firstchannel 517 and a second channel 527. The first channel 517 includes afirst inlet 514 of nozzle and a first outlet 516 of nozzle. The firstoutlet 516 of nozzle is coupled to the inlet aperture 404 disposedinside the port 402 of the node 400. The second channel 527 includes asecond inlet 524 of nozzle and a second outlet 526 of nozzle. The secondoutlet 526 of nozzle is coupled to the outlet aperture 406 disposedinside the port 402. The first channel 517 and the second channel 527are isolated from one another. The first channel 517 is configured toinject an adhesive through the first outlet 516 of nozzle into the inletaperture 404. The second channel 527 is configured to receive theadhesive from the outlet aperture 406. In some embodiments, the secondinlet 524 of nozzle is configured to be coupled to a negative pressuresource to apply vacuum to the outlet aperture 406. The nozzle 500 may beadditively manufactured as well.

The nozzle 500 includes a first end 500 a and a second end 500 b. Thefirst end 500 a is also referred to as a port end, which is configuredto be inserted into the port 402. The port end 500 a of the nozzle mayhave a size compatible with a diameter of the port 402. The second end500 b is also referred to as an effector end, which is configured to becoupled to an effector.

The nozzle 500 may work with one fluid, which is referenced herein as asingle circuit embodiment. The nozzle 500 may be used to inject theadhesive and remove the adhesive without applying vacuum. The singlecircuit embodiment may be utilized to simplify the number of variants ina manufacturing system. For example, the first outlet of nozzle 516 isdisposed on a side wall of the port end 500 a, in order to enable theadhesive to be injected into the inlet aperture 404 with a positivepressure perpendicular to an axial direction 401 of the port 402. Thesecond outlet of nozzle 526 may be disposed on a bottom of the port endof 500 a. The single circuit embodiment can have a great flowcapability, but the single circuit embodiment only works with a singlefluid, such as an adhesive, or a sealant, that would not be vacuumed andwould be injected with positive pressure only.

The nozzle 500 may further work with two fluids, which is referencedherein as a two circuit embodiment. The nozzle 500 may be used to applyvacuum to the adhesive outlet aperture 406 of the node 400 through thesecond channel 527, and inject the adhesive into the adhesive inletaperture 404 of the node 400 through the first channel 517.

The port end 500 a of the nozzle 500 may be inserted into the port 402of the node 400. The vacuum may be applied to the port 402. The negativepressure from the vacuum may cause the nozzle 500 to be pulled moretightly into the port 402, which is an interface receptacle port. Thistight connection helps ensure that the correct inlets and outlets of thenozzle meet snugly with the respective apertures of the node 400 andthat the adhesive application procedure flows smoothly and efficiently.The adhesive can be applied to the inlet aperture 404 of the port 402.Here again, while the channel between inlet aperture 404 and outletaperture 406 is shown for simplicity as a simple loop, the channel inpractice may extend to one or more adhesive bond regions of the node 400as described above with reference to FIG. 4.

In an exemplary embodiment, the adhesive is injected into the inletaperture 404 with a positive pressure perpendicular to the axialdirection 401 of the port 402. For example, the first outlet of nozzle516 is disposed on a side wall of the port end 500 a. The pressure fromthe injection of the adhesive acts radially in the nozzle 500 and port402. That is, the injection of the adhesive causes a force applied onthe nozzle along a radial direction. The force from the injection isperpendicular to the axial direction 401 of the port 402. Thus, theforce neither pulls nor pushes the nozzle 500 in or out of thereceptacle port 402 during the adhesive injection process. Thisconfiguration is advantageous to form a stable connection between thenozzle 500 and the node 400. The stability may be further increased inembodiments using a vacuum. As indicated above, the negative pressurefrom the vacuum together with the orientation of the outlet aperture 406at the bottom of the port 402 ensures an even tighter fit of the nozzle500 into the port 402 as the vacuum is drawn.

The first channel 517 and the second channel 527 of the nozzle 500 mayhave various relative orientations and configurations. For example, thefirst channel 517 and the second channel 527 may extend away from eachother at the second end 500 b (referred to herein also as the effectorend 500 b) as shown in FIG. 5A. The first channel 517 and the secondchannel 527 may alternatively be parallel to each other at the secondend 500 b. In some embodiments, the first channel 517 and the secondchannel 527 substantially extend along the axial direction 401 at theport end 500 a, such that the two channels 517 and 527 can beeffectively inserted into the port 402.

The nozzle 500 may further include one or more O-Rings, or sealants.O-Rings or sealants may be used at the nozzle-port interface as well asthe nozzle-effector interface. A sealant region may include featuressuch as a groove, dovetail groove, inset or other feature built into asurface of the nozzle. The sealant region may accept a sealant such asan O-Ring.

Referring to FIG. 5A, the nozzle 500 may include a first O-ring 535 adisposed between the first outlet of nozzle 516 and the second outlet ofnozzle 526. The second outlet of nozzle 526 is coupled to the outletaperture 406 of the node 400 to apply the negative pressure. The firstO-ring 535 a is used to provide a seal to the vacuum, to preventunwanted flow of the adhesive, and to isolate the first outlet of nozzle516 from the second outlet of nozzle 526. The nozzle 500 may furtherinclude a second O-ring 535 b disposed above the first outlet of nozzle516 at the port end 500 a. The second O-ring 535 b is used to provide anadditional seal to the port 402 and further prevent unwanted flow of theadhesive. It will be appreciated that the first and second O-rings 535 aand 535 b in FIG. 5A are partially obscured from view in this drawingsince they extend out of and into a plane of the drawing, and laterallybehind other structures (e.g. first and second channels 517 and 527).FIG. 5B shows an alternative perspective view of the structure includingan illustration of the external contour of the structure according to anembodiment. O-rings 535 a and 535 b are shown encircling portions of theport end 500 b. An external view of nozzle 500 is also shown in FIG. 5B,and includes a view of the first and second inlets 514 and 524. In anembodiment, effector end 500 b is designed to easily and efficiently fitinto a corresponding portion of a robot or other structure for supplyingfluids and negative pressure to the appropriate channels and for movingthe effector as required from one port to another.

In addition to the nozzle with two circuits described above, a thirdcircuit can be added in another embodiment to introduce another fluid,for example, a sealant which can be used to encapsulate the injectedadhesive. The sealant can be dispensed after the adhesive at the time ofremoval of the interface nozzle from the interface port. The sealant maybe configured to cure or solidify well in advance of the adhesivecuring. The nozzle with three circuits may include three channels, onechannel for each respective fluid.

FIG. 6A illustrates a cross-section view of a three-channel nozzle 600for the single port node 400. FIG. 6B illustrates another cross-sectionview of the three-channel nozzle 600 from another plane. Morespecifically, as described further below, FIG. 6A is offset relative toFIG. 6B about a longitudinal axis 601 such that cross-sections of thenozzle 600 are viewable at two different section planes. Referring toFIG. 6A and FIG. 6B, the nozzle 600 includes a first channel 617, asecond channel 627 and a third channel 637. The first channel 617includes a first inlet of nozzle 614 and a first outlet of nozzle 616.The first outlet of nozzle 616 is configured to be coupled to the inletaperture 404 of the node 400 (FIG. 4). The second channel 627 includes asecond inlet of nozzle 624 and a second outlet of nozzle 626. The secondoutlet of nozzle 626 is configured to be coupled to the outlet aperture406. The first channel 617 and the second channel 627 are isolated fromone another. The first channel 617 is configured to inject an adhesivethrough the first outlet of nozzle 616 into the inlet aperture 404. Thesecond channel 627 is configured to remove the adhesive from the outletaperture 406 (FIG. 4). In some embodiments, the second inlet of nozzle624 is configured to be coupled to a negative pressure source to applyvacuum to the outlet aperture 406. The first inlet of the nozzle 614 canbe connected to the first outlet of nozzle 616 through the first channel617. The adhesive can be injected from the robot into the first inlet ofnozzle 614 and can travel to first outlet of nozzle 616 and theninjected into the port. The second inlet of the nozzle 624 can beconnected to the second outlet of nozzle 626 through the second channel627. The excess adhesive from the port can travel from the second outletof nozzle 626 to the second inlet of nozzle 624, and to the robot orother controlling device.

In addition to the first channel 617 and the second channel 627, a thirdchannel 637 can be added to introduce a third fluid, for example, whichcan be a sealant to encapsulate the injected adhesive. The third channel637 includes a third inlet of nozzle 634 and a third outlet of nozzle636. For example, the third channel 637 is configured to dispense asealant through the third outlet of nozzle 636. The third inlet ofnozzle 634 can be connected to the third outlet of nozzle 636 throughthe third channel 637. The sealant can travel from the third inlet ofnozzle 634 to the third outlet of nozzle 636, and can be injected intoan appropriate inlet aperture in the port. The third channel 637 isisolated from the first channel 617 and the second channel 627. In anembodiment, the third fluid can be dispensed after the adhesiveimmediately before removal of the interface nozzle from the interfaceport. The nozzle 600 may be additively manufactured as well.

As is evident from the above description, FIG. 6A and FIG. 6B illustratetwo cross-sections of the same nozzle 600 in order to show the positionsof the various features relative to each other. FIG. 6A illustrates across-section including the first channel 617 and the third channel 637.FIG. 6A illustrates another cross-section including the second channel627 and the third channel 637. As shown in FIG. 6A and FIG. 6B, thethree channels 617, 627, and 637 may be disposed in differentcross-sections and offset from each other. For example, the firstchannel 617 and the second channel 627 may be disposed on a first plane,and the third channel 637 may be disposed offset from the first plane.

Referring to FIG. 6A and FIG. 6B, the nozzle 600 includes a first end600 a and a second end 600 b. As shown in FIG. 6A and FIG. 6B, the firstend 600 a includes the portion of the nozzle 600 below the dotted line650 and the second end 600 b includes the portion of the nozzle 600above the dotted line 650. The first end 600 a is also referred to as aport end, which is configured to be inserted into a port of a node. Thesecond end 600 b is also referred to as an effector end. The effectorend 600 b may be connected to an effector, which would be connected tothe sealant, adhesive and vacuum apparatuses.

Since the port end 600 a is configured to be inserted into the port ofthe node, the port end 600 a may have a size compatible to a size of theport. In some embodiments, the first channel 617, the second channel 627and the third channel 637 are extending along an axial direction 601 atthe port end 600 a. For example, at the port end 600 a, the firstchannel 617, the second channel 627 and the third channel 637 may beparallel to each other along the axial direction 601. However, at theeffector end 600 b, the first channel 617, the second channel 627 andthe third channel 637 may have different orientations. For example, thefirst channel 617, the second channel 627 and the third channel 637 mayextend away from each other.

FIG. 7A illustrates the nozzle 600 including a plurality of regions 635a-f for receiving O-rings/sealants. As shown in FIG. 7A, O-Rings orsealants can be used at both the nozzle-port interface and thenozzle-robot interface. A sealant region 635 a-f may include featuressuch as a groove, dovetail groove, inset or other feature built into asurface of the nozzle 600. The sealant regions 635 a-f may accept asealant such as an O-ring. The sealant regions may be used to separatedifferent circuits, or different channels. The sealant regions may alsobe used to prevent unwanted flow between different channels. Forexample, an O-ring in region 635 a may be disposed between the firstoutlet of nozzle 616 (obscured from view) and the second outlet ofnozzle 626. As another example, the O-rings in regions 635 d and 635 emay be disposed between the first inlet of nozzle 614, the second inletof nozzle 624 and the third inlet of nozzle 634, respectively.

Referring to FIGS. 6A-B and 7A, the nozzle 600 may include a firstO-ring disposed in region 635 a between the first outlet of nozzle 616and the second outlet of nozzle 626, as noted above. The second outletof nozzle 626 is coupled to the outlet aperture 406 of the node to applythe negative pressure. The first O-ring in region 635 a may be used toprovide a seal to the vacuum and prevent unwanted flow of the adhesive.The nozzle 600 may further include a second O-ring disposed in region635 b above the first outlet of nozzle 616 at the port end. In anembodiment, the second O-ring 635 b is used to provide additional sealto the port and to further prevent unwanted flow of the adhesive. Thenozzle 600 may be additively manufactured. The nozzle 600 may bedisposable. This can be advantageous as nozzles can be discarded afterthe channels in them have been clogged due to extended use. O-rings inremaining regions 635 c-f may be similarly discarded for providingisolation and sealing, and preventing contamination, etc.

FIG. 7B illustrates a bottom view of a nozzle with a plurality ofsealant outlets, according to one embodiment of this disclosure.Referring to FIG. 7A and FIG. 7B, a third channel can be added in thenozzle 600 to dispense a sealant through the third outlet of nozzle 636.In an exemplary embodiment, the sealant or sealer can be dispensed afterthe adhesive is injected and at the time before removal of the interfacenozzle from the port and the cure of the adhesive. The sealant or sealermay form a cap for the port. The sealant or sealer may alternatively oradditionally be used as an isolator to seal the port and prevent directcontact between the node and the component to and from the connection.Where, for example, the component and node are composed of dissimilarmetals, this isolation may be crucial to preventing galvanic corrosionand therefore to enable reliable, long-lasting node-componentconnections.

FIG. 7B further illustrates a bottom view of a nozzle with a pluralityof sealant outlets in one embodiment. Instead of having one third outletof nozzle, the nozzle 600 can include a plurality (e.g. six (6)) ofthird outlets of nozzle 636. For example, the plurality of third outletsof nozzle 636 may be evenly distributed around the second outlet of thenozzle 626, which may be a vacuum port. The sealant or sealer may flowout from the plurality of third outlets of nozzle 636, instead of asingle hole. The sealant may be deposited from the plurality of thirdoutlets of nozzle 636 to form a sealant layer. The plurality of thirdoutlets of nozzle 636 may be advantageous to evenly distribute thesealant and form a layer of sealant with a more uniform thickness, incomparison to the single third outlet of nozzle configuration. Ingeneral, one or more outlets of nozzles 636 may be suitable depending onthe implementation. In still other embodiments (not explicitly shown),the first and second channels may include multiple outlets as well,e.g., to spread adhesive evenly and/or to correspond to multiple inletand/or outlet apertures in the associated ports, as discussed withreference to an earlier embodiment of the port 400.

FIG. 7C illustrates a bottom view of a nozzle with a plurality ofsealant outlets in another embodiment. The second outlet of nozzle 626is disposed at a side at the bottom of the nozzle 600, and the pluralityof third outlets of nozzle 636 are disposed at another side. Thisconfiguration may be used in a nozzle with a small cross-sectionalbottom area.

FIG. 8 is a flow diagram of an exemplary method 800 of using a singleport node to form a bond with various components. Various embodiments ofthe method 800 of using the single port node are disclosed herein. Whenin use, a nozzle (also referred as an interface nozzle) can be insertedinto the single port of the node. The step of inserting the nozzle intothe port of the node 802 can be performed by a robot or other automatedmachinery for volume production. The step 802, of inserting a nozzleinto a port of a node, can also be performed by a human. For example, aneffector of the robot can grab an effector end of the nozzle and inserta port end of the nozzle into the port. The nozzle can include aplurality of channels. An outlet of nozzle of a vacuum channel, whichmay be a second channel of the nozzle, can be connected to acorresponding outlet aperture disposed inside the port. The step ofapplying vacuum 804 includes applying vacuum to the outlet aperturedisposed inside the port.

In some embodiments, a step of applying vacuum 804 is used to draw thenozzle close to the port and lock the nozzle to the port. The negativepressure of vacuum may also help to speed up the process of filling thenode with adhesive, e.g., by a robot sensing the presence of an outputadhesive flow from the port in the second channel. For example, the stepof applying vacuum 804 may include applying vacuum to the outletaperture along an axial direction of the port. The outlet aperture maybe disposed on a bottom of the port. Thus, the negative pressure isapplied along the axial direction of the port. In some otherembodiments, the adhesive is removed without applying vacuum. The stepof applying vacuum 804 may be omitted.

The method of using the single port node 800 includes a step ofinjecting the adhesive 806. An outlet of nozzle of an adhesive injectionchannel, which is a first channel of the nozzle, can be connected aninlet aperture disposed inside the port. The step of injecting theadhesive 806 includes injecting the adhesive to the inlet aperturedisposed inside the port. For example, the inlet aperture may bedisposed on a side wall of the port. Thus, the positive injectionpressure is applied perpendicular to an axial direction of the port. Inother words, the positive injection pressure is acting radially.Therefore, the positive pressure will not push the nozzle out of theport. In some embodiments, the step of injecting the adhesive 806includes injecting the adhesive with the positive pressure perpendicularto the axial direction of the port.

The method 800 may further include enabling the adhesive to fill atleast one region of the node 808. After the adhesive is injected, theadhesive can travel through a channel inside the node. The channelextends from the inlet aperture inside the port, to one or more oneadhesive regions to be filled with the adhesive, and returns to theoutlet aperture disposed inside the port. The method 800 can enable theadhesive to fill the one or more adhesive regions in the node to formbonds with various components. In some embodiments, the method 800 mayfurther include removing the adhesive from the outlet aperture throughthe second channel of the nozzle. The process of removing the adhesivecan be performed by applying the vacuum pressure, or can be performedwithout applying the vacuum.

The method 800 may further include dispensing another fluid, forexample, a sealant or sealer, to encapsulate the injected adhesiveinside the port through a third channel of the nozzle, which may be asealant channel. For example, when the first traces of adhesive overfloware sensed in the second channel, the robot may be enabled to sense whento stop the adhesive flow in an embodiment. For example, after theinjection and removal of the excessive adhesive, the sealant or sealercan be dispensed from one or more sealant outlets of the nozzle. Thesealant or sealer may form a cap to encapsulate the injected adhesive.The sealant or sealer may be dispensed before the adhesive is cured. Thesealant or sealer may be cured before the adhesive is cured. Forexample, the sealant or sealer sealant cures quicker than the adhesive.Thus, the sealant or sealer may protect the port and the process ofcuring the adhesive. The sealant or sealer may be dispensed from aplurality of third outlets such that the sealant or sealer may be evenlydistributed and form a uniform layer of cap.

In some embodiments, the method 800 may further include separating theapertures of the nozzle by one or more O-rings of the nozzle. The nozzlemay include one or more O-rings at a nozzle-port interface, and anozzle-effector interface. The O-rings of the nozzle can separate thedifferent channels, and prevent unwanted flow between channels. TheO-rings may also help applying the vacuum. In the case that multiplecircuits are actuated to apply the adhesive, vacuum and sealant, theO-rings may also help to prevent a short circuit (e.g., a breach ofadhesive from an adhesive inlet channel into a vacuum channel, etc.).

Advantageously, the method 800 disclosed herein can significantlyincrease the efficiency of the manufacturing process. The complexity ofthe adhesive injection system can be reduced because the robot onlyneeds to move to one location to inject the adhesive and sense acomplete fill of the adhesive, with or without using negative pressure.Since the robots or other automated machines only have to interface withone port, these robots/machines can be made leaner and more compact thanthose in the conventional assembly system needed for applying adhesiveto nodes requiring two (or more) ports. Because the assembly systeminvolves a large number of nodes, the method 800 can greatly increasethe efficiency and reduce the complexity of the assembly process.

In another aspect of this disclosure, a node for enabling connection ofvarious components without an outlet aperture is disclosed. The node mayinclude a port extending inwardly from a surface to form a recess. Thenode may further include an inlet aperture disposed inside the port. Theinlet aperture is configured to receive a fluid injected into at leastone bond region to be filled by the fluid. The port is configured toreceive a nozzle to enable injection of the fluid. For example, thefluid can be an adhesive configured to bond various components together.In an embodiment, at least one connection of the node may be a part of avehicle chassis. In another embodiment, at least one connection of thenode may be a part of other structures.

FIG. 9A illustrates a perspective view of an example of a single portnode 900 for bonding to various components according to anotherembodiment of this disclosure. FIG. 9B illustrates a top view of thesingle port node 900. FIG. 9C illustrates another perspective view ofthe single port node 900. Referring to FIGS. 9A-9C, the node 900 caninclude a port 902, and an inlet aperture 904. For example, the port 902may extend inwardly from an external surface 903 to form a recess. Theinlet aperture 904 is disposed inside the port 902 and configured toreceive a fluid injected into at least one bond region to be filled bythe fluid. For example, node 900 may be part of a node/panel interface,and the fluid may be an adhesive configured to bond node 900 to thepanel using at least one adhesive bond region. The port 902 isconfigured to receive a nozzle to enable injection of the fluid.Adhesive is used below as an example in this disclosure for the fluid,however, the fluid can be any other fluid as well.

The single port 902 may be utilized for the adhesive inlet operations.The port 902 may be similar as the port 402, as shown in FIG. 4. Forexample, the port 902 may be in a cylindrical shape and extend in anaxial direction in some embodiments. In some other embodiments, the portcan be in a conical shape, a cubic shape, or any other shape. In somealternative embodiments, the port may be a protrusion extending upwardlyfrom the external surface 903 with a recess in a central portion of theprotrusion that includes the apertures or other structures. The portsmay also include protrusions built within recesses in the node, suchthat the tips of the protrusions may be flush with or proximate inheight to the external surface of the node in which the recesses areinset. In other embodiments, the protrusions may be higher or lower thanthe external surface. In embodiments utilizing protruding ports, theports may optionally be fabricated with the intent of being broken offupon completion of the bonding process, which may also reduce mass andvolume of the corresponding node or other structure that includes theports. The port may have other configurations as well.

The apertures 904 may be disposed inside the port 902. The adhesiveinlet aperture 904 is configured for receiving adhesive injected intothe channel 907 and toward the adhesive regions. The aperture 907 may besimilar to the aperture 407, as shown in FIG. 4. For example, the inletaperture 904 may be disposed on a side wall of the port 902. Thus, theadhesive is injected into the channel 907 by a positive pressureperpendicular to an axial direction 901 of the port 902. The injectionpressure may push the effector or applicator for injecting the adhesiveout of the port when the adhesive is injected along the axial direction901 of the port 902. In some embodiments, the node 900 may furtherinclude a plurality of inlet apertures disposed inside the port 902. Forexample, the plurality of inlet apertures may be disposedcircumferentially around the port 902. There are many variations andconfigurations of the location and arrangement of the inlet aperture904. The above examples are for illustration only and are not intendedto limit the scope of the disclosure. In some embodiments, the inlet andoutlet apertures 904 may have a diameter of 1 mm or greater, althoughsmaller values are possible and may be equally suitable in someembodiments. For example, the inlet 904 may have a diameter between 1 mmand 30 mm in an embodiment. The port 902 may have a cylindrical shape orany other shape. The inlet aperture may have any suitable shape asnoted. The port may also include any other shape, such as a cubic shape,a conical shape, or any arbitrary shape.

The node 900 may further include at least one channel 907 extending fromthe adhesive inlet aperture 904 to the at least one adhesive region (notshown). The port 902 is coupled to the channel 907 through the adhesiveinlet aperture 904. In other embodiments, adhesive inlet aperture 904may comprise more than one aperture and may receive injected adhesive inparallel. The channel 907 may be similar to the channel 407 as shown inFIG. 4. For example, the inlet aperture 904 may in these embodimentscomprise a plurality of inlet apertures disposed along a designatedcircumference of the cylindrical region of the port. These one or moreapertures 904 may correspond to one or more channels 907 for deliveringadhesive. In still other embodiments, as noted above, each of the one ormore apertures and/or channels may include a variety of geometries, assuitable for the application.

The channel 907 may be a part of the node 900 and may be additivelymanufactured using any suitable AM technique. The channel 907 maycomprise multiple channel portions after it enters and then exits anadhesive bond region. Depending on the embodiment and whether adhesiveis injected serially or in parallel, the node may be considered to haveone or more channels as described above. In general, the design of thechannels may enable sequential flow of the adhesive into specificadhesive bond regions between an inner surface of the node and an outersurface of a component whose edge has been inserted into a recess of thenode.

A plurality of nozzles, or interface nozzles, may be utilized with thenode 900 having a single port for adhesive as described above. Forexample, the nozzle may include a first channel comprising a first inletof nozzle and a first outlet of nozzle. The first outlet of nozzle maybe configured to be coupled to the inlet aperture 904 disposed insidethe port 902 of the node 900. Similar to the nozzle 500, as shown inFIGS. 5A and 5B, the nozzle for the single port 902 may include a firstend and a second end. The first end may also referred to as a port end,which is configured to be inserted into the port 902. The port end ofthe nozzle may have a size compatible with a diameter of the port 902.The second end may be also referred to as an effector end, which isconfigured to be coupled to an effector.

In an exemplary embodiment, the adhesive is injected into the inletaperture 904 with a positive pressure perpendicular to the axialdirection 901 of the port 902. For example, the first outlet of nozzleis disposed on a side wall of the port end. The pressure from theinjection of the adhesive acts radially in the nozzle and port 902. Thatis, the injection of the adhesive causes a force applied on the nozzlealong a radial direction. The force from the injection is perpendicularto the axial direction 901 of the port 902. Thus, the force neitherpulls nor pushes the nozzle in or out of the receptacle port 902 duringthe adhesive injection process. This configuration is advantageous toform a stable connection between the nozzle and the node 900, asdiscussed above.

FIG. 10 illustrates a side view of an example of an end effector 1000for interfacing with a nozzle (e.g., the nozzle 600 in FIGS. 6A-6B, thenozzle 500 in FIGS. 5A-5B) according to one embodiment of thisdisclosure. FIG. 11A illustrates a top view of the end effector 1000 ina first position 1000 a. FIG. 11B illustrates another top view of theend effector 1000 in a second position 1000 b. FIG. 12 illustrates aperspective view of the end effector 1000.

In an aspect of the disclosure, the end effector 1000 for interfacingwith a nozzle (e.g., 500, 600) is disclosed. The end effector 1000 maycomprise a first end 1000 e, which includes a receptacle 1099 (FIGS.11A-B, 12). The receptacle 1099 in this embodiment is a downwardprotrusion having a generally circular opening at the first end 1000 eand cylindrically-shaped side walls that are configured to receive thenozzle 600 and sized to the body of the nozzle 600 at the effector end.The side walls may include inlets and outlets for enabling fluids ornegative pressure to flow between the end effector 100 and nozzle 600. Avariety of receptacle shapes are possible, including shapes foraccommodating non-cylindrical nozzles. The nozzle 600 may include one ormore nozzle retention features (e.g., 688 a) and a first nozzle inlet(e.g. 614). The nozzle 600 is used as only an example of nozzles forillustration in FIGS. 10-12 in this disclosure. However, the endeffector 1000 can be used to interface with a variety of nozzles, notbeing limited to the nozzle 600.

Referring to FIGS. 10-12, the end effector 1000 may comprise one or moreretention features (e.g., 1088 a, 1088 b) positioned along a perimeterof the receptacle 1099, where each of the one or more retention features(e.g., 1088 a, 1088 b) is movable between a first position 1000 a and asecond position 1000 b. Each of the one or more retention features(e.g., 1088 a, 1088 b) is configured to lock the nozzle 600 by securingonto a corresponding one of the one or more nozzle retention features(e.g., 688 a) in the first position, and to release the nozzle 600 inthe second position 1000 b. The end effector 1000 may further compriseone or more actuators, for example, 1068 a and 1068 b, configured toactuate the one or more retention features (e.g., 1088 a, 1088 b)between the first position 1000 a and the second position 1000 b. Theend effector 1000 comprises a first channel 1019 (FIG. 12), whichincludes a first inlet 1012 and a first outlet 1013. The first outlet1013 is positioned inside the receptacle 1099 and is configured to becoupled to the first nozzle inlet 614 in the first position 1000 a.

As shown in FIG. 10, the end effector 1000 is configured to connect tothe nozzle 600, for example, a multi-channel adhesive nozzle. The endeffector 1000 is the component that may connect to an effector end 600 aof the nozzle 600. The end effector 1000 may include feed ports that maybe coupled to the inlet ports of the nozzle 600. For example, the endeffector 1000 may include a first inlet port 1012 connected to a firstoutlet 1013, and further coupled to a first inlet port 614 (e.g.,adhesive port) of the nozzle 600. The end effector 1000 may include asecond inlet port 1022 connected to a second outlet 1023, and furthercoupled to a second inlet port 624 (e.g., vacuum port) of the nozzle600. The end effector 1000 may include a third inlet port 1032 connectedto a third outlet 1033, and further coupled to a third inlet port 634(e.g., sealant port) of the nozzle 600. The inlet ports and outlet portsmay have other configurations, depending on the requirements. The endeffector 1000 thus has the capability to inject or apply a variety offluids at the same time.

As shown in FIGS. 11A-B, the end effector 1000 may include a receptacle1099 to receive the nozzle 600. The end effector 1000 may include one ormore retention features 1088 a and 1088 b, to retain the nozzle 600 tothe end effector 1000 during the injection process. One or morecorresponding retention features 688 a may be present on the nozzle 600.For example, the one or more retention features 1088 a, 1088 b in theend effector 1000 may include cleats, or tangs, or protrusions, or tabs,or projections that can lock into the one or more correspondingretention feature 688 a on the nozzle 600 in a first position 1000 a(FIG. 11A) and can thus lock the end effector 1000 to the nozzle 600such that the fluid or vacuum application operations described hereincan be initiated. Once these operations are completed, end effector 1000can be released from the nozzle 600 by moving retention features 1088 a,1088 b into a second position 1000 b (FIG. 11B) as described in furtherdetail below.

In some aspects, one or more actuators 1068 a, 1068 b may be utilized tolock and release the nozzle 600 by actuating the one or more retentionfeatures 1088 a and 1088 b. For example, the one or more actuator 1068a, 1068 b may be hydraulically actuated, pneumatically actuated,electrically actuated, and the like. In an embodiment, the one or moreactuators comprises one or more pneumatic cylinders, as shown in FIGS.11A-B.

FIG. 11A illustrates the end effector 1000 in a first position 1000 a,when the one or more pneumatic cylinders 1068 a, 1068 b are actuatingthe cleats 1088 a, 1088 b to an extended (locking the nozzle) position.As shown in FIG. 11A, the one or more retention features 1088 a, 1088 bmay be positioned along a perimeter of the receptacle 1099. For example,the one or more retention features 1088 a, 1088 b in the end effector1000 may include cleats, or tangs, or protrusions, or tabs, orprojections, etc. Each of the one or more retention features 1088 a,1088 b may be movable between the first position 1000 a which is alocked position, and a second position 1000 b which is a retractedposition. Each of the one or more retention features 1088 a, 1088 b maybe configured to lock the nozzle 600 by securing onto a correspondingone of the one or more nozzles 600 in the first position 1000 a.

The end effector 1000 can then be released from the nozzle 600 whenoperations are complete. For example, the one or more retention features688 a may be locked in the first position 1000 a by their respectiveactuators 1068 a, 1068 b when fluid application and related proceduresare ongoing. Upon completion of the process, end effector 1000 may thenbe released into a retracted position by releasing the features 1088 a,1088 b from nozzle 600 as describe below.

Various embodiments may be used in FIG. 11A for locking the end effector1000 in place. In one example, the features 1088 a, 1088 b may beconfigured as cleats having curved edges and being movable along the Xdirection as shown in FIGS. 11A-11B. When the cleats 1088 a, 1088 b movealong the X-direction, the curved edges of the cleats 1088 a, 1088 b maybe placed to secure onto, or lock into, the one or more correspondingretention feature 688 a, for example, a corresponding groove or one ormore recesses on the nozzle 600. In another example, the one or moreretention features 1088 a, 1088 b on the end effector 1000 may insteadbe configured to be movable along the Y direction, and may be placed tosecure onto, or lock into the one or more corresponding retentionfeature on the nozzle when the retention features are moved along the Ydirection. In another example, the one or more retention features 1088a, 1088 b may be tabs, or tongs that are movably attached to thereceptacle and that can be moved into the one or more correspondingretention features 688 a, 688 b of the nozzle 600 to lock the endeffector in place. In another example, the one or more retentionfeatures can be movable in any directions and can move anywhere on theX-Y plane.

FIG. 11B illustrates the end effector 1000 in a second position 1000 b,when the one or more pneumatic cylinders 1068 a, 1068 b are actuatingthe cleats 1088 a, 1088 b to a retracted position. As shown in FIG. 11B,the one or more retention features 1088 a, 1088 b may be moved away fromthe one or more corresponding retention features 688 a on the nozzle 600to release the nozzle 600 from the end effector 1000.

In some other embodiments, the one or more retention features of the endeffector may be grooves or one or more recesses, and the one or morecorresponding retention features on the nozzle may be cleats, or tangs,or protrusions, or tabs, or projections, etc.

In some embodiments as described above, one or more actuators 1068 a,1068 b can be configured to actuate the one or more retention features1088 a, 1088 b between the first position 1000 a, and the secondposition 1000 b. The one or more actuators 1068 a, 1068 b may comprisehydraulic actuators, pneumatic actuators, electronic actuators, or othertypes of actuators. In an alternative embodiment, the one or moreretention features 1088 a, 1088 b may be actuated manually.

As shown in FIG. 12, the end effector 1000 may include the receptacle1099 to accommodate the nozzle 600. The nozzle 600 may have an effectorend, and the receptacle 1099 may have a size compatible with a size ofthe effector end of the nozzle 600 to enable the effector end to fitinto the receptacle 1099. The end effector 1000 may comprise a firstchannel 1019, which includes a first inlet 1012 and a first outlet 1013.The end effector 1000 may further comprise a second channel 1029, whichincludes a second inlet 1022 and a second outlet 1023. The end effector1000 may further comprise a third channel 1039, which includes a thirdinlet 1032 and a third outlet 1033. The first outlet 1013, the secondoutlet 1023, the third outlet 1033 may be positioned inside thereceptacle 1099 and are configured to be coupled to the first nozzleinlet 614, the second nozzle inlet 624, the third nozzle inlet 634respectively, in the first position 1000 a. The end effector 1000 mayfurther comprise an exterior surface, where the first inlet 1012, thesecond inlet 1022, the third inlet 1032 may be positioned on theexterior surface of the end effector 1000.

Once the nozzle 600 is locked into place, the first channel 1019, thesecond channel 1029 and the third channel 1039 can line up with therespective first inlet 614, second inlet 624, and third inlet 634 on thenozzle 600. The nozzle 600 may further include O-Rings to ensure thatthe volume between the outlets (e.g., 1013, 1023, 1033) of the channels(e.g., 1019, 1029, 1039) in the end effector 1000 and the correspondingnozzle inlets (e.g., 614, 624, 634) on the nozzle 600 are isolated fromother inlet and outlet pairs.

For example, when an adhesive inlet, a vacuum inlet and a sealant inletare utilized, the end effector 1000 may have three inlet and outletpairs. The adhesive inlet 1012, the vacuum inlet 1022 and the sealantinlet 1032 may be disposed on an exterior surface of the end effector1000. The adhesive inlet 1012, the vacuum inlet 1022 and the sealantinlet 1032 may be connected to the corresponding outlets 1013, 1023, and1033 through isolated channels 1019, 1029, and 1039, as shown in FIG.12.

For example, the first channel 1019 may be configured to enableinjection of a first fluid (e.g., adhesive). For example, the secondchannel 1029 may be configured to facilitate removing the first fluid(e.g., adhesive) from the nozzle 600. For another example, the secondinlet 1022 of the second channel 1029 may be configured to be coupled toa negative pressure source to apply vacuum to the second nozzle inlet624. For another example, the second channel 1029 may also be used for apositive pressure to expel a fluid drawn into a vacuum aperture (e.g.,624) during a vacuum operation. For example, the third channel 1039 maybe configured to dispense a second fluid through the third outlet 1033to the third nozzle inlet 634. The third channel 1039 may be configuredto dispense a sealant through the third outlet 1033 to the third nozzleinlet 634 in some embodiments.

For example, fluids may be configured to be injected from the inlets1012, 1022, and 1032, to enter the channels 1019, 1029, and 1039, toexit through the outlets 1013, 1023 and 1033 radially, which isperpendicular to an axial direction 1001 of the end effector 1000. Thefluids exiting the channels (e.g., 1019, 1029, 1039) may be configuredto enter the nozzle inlets (e.g., 614, 624, 634) of the nozzle 600radially, which is perpendicular to an axial direction of the nozzle600. For example, the receptacle 1099 may include a side wall, and wherethe first outlet 1013 may be disposed on the side wall to enable a firstfluid to be injected into the first nozzle inlet 614 with a positivepressure perpendicular to an axial direction of the nozzle 600. This canensure that the pressure from the injection of the fluids, for example,the adhesive/sealant injection, acts radially or perpendicular to anaxial direction of the nozzle 600, thereby preventing displacement ofthe nozzle 600 during the fluid injection process. For example, theoutlets (e.g., 1013, 1023, 1033) may be disposed to enable another fluidto be injected into the corresponding nozzle inlets (e.g., 614, 624,634) radially.

The sizes and profiles of inlets (e.g., 1012, 1022, 1032), the outlet(e.g., 1013, 1023, 1033) and the channels (e.g., 1019, 1029, 1039) canbe a function of the viscosities of the fluids being transported throughthe end effector 1000. More viscous fluids may require greater diametersof the channels (e.g., 1019, 1029, 1039), the inlets (e.g., 1012, 1022,1032), and the outlets (e.g., 1013, 1023, 1033). For example, thechannels can have a cross section in a circular shape, an ellipticalshape, a rectangular shape, or any other shape. For example, a diameterof the third channel 1039 can be larger than a diameter of the firstchannel 1019. For example, the diameter of the inlet 1032 for thesealant may be larger than the inlet 1012 for the adhesive, in oneembodiment. The nozzle 600 may further include O-Rings to isolatedifferent channels (e.g., 1019, 1029, 1039). The fluids can betransferred through the isolated channels (e.g., 1019, 1029, 1039)provided in the end effector 1000. This can ensure multiple fluids to betransferred simultaneously without mixing.

The end effector 1000 may further comprise a second end. In someaspects, the second end is configured to be coupled to a robot and theend effector may be manipulated by a robot. The robot may provide theactuators for manipulating the movements of the end effector 1000, forproviding the necessary pneumatic pressure for actuating the locking andunlocking mechanisms of the end effector 1000 to the nozzle, as well astubes or channels coupled to the necessary fluid storage and vacuum pumpequipment for coupling to the necessary inlets and outlets that lead tothe nozzle 600,via the receptacle connections, and ultimately to thenode via the port in which the nozzle 600 is inserted. In some otheraspects, the second end of the end effector may be grabbed by a person,and the end effector may be manipulated by a person.

In various embodiments, the one or more actuators 1068 a, 1068 b may beco-printed with the one or more retention features 1088 a, 1088 b, andmay be further co-printed with the receptacle 1099 of the end effector1000 in the AM process. For example, the entire end effector 1000 is anadditively manufactured end effector. The receptacle 1099, the inlets(e.g., 1012, 1022, 1032), the outlets (e.g., 1013, 1023, 103), thechannels (e.g., 1019, 1029, 1039), the one or more retention features(e.g., 1088 a, 1088 b), the one or more actuators (e.g., 1068 a, 1068b), of the end effector 100 are co-printed and produced by the AMprocess.

FIG. 13 is a flow diagram of an example method 1300 of using an endeffector to interface with a nozzle. The method 1300 comprises receivingthe nozzle in a receptacle of the end effector, as illustrated at 1302.The method comprises actuating one or more retention features of the endeffector to a first position to secure onto a corresponding one of oneor more nozzle retention features to lock the nozzle, as illustrated at1304.

As illustrated at 1306, the method 1300 may comprise applying vacuum toa second inlet of the end effector, where a second outlet of the endeffector is coupled to a second nozzle inlet.

As illustrated at 1308, the method 1300 comprises injecting a firstfluid to a first inlet of the end effector, where a first outlet of theend effector is coupled to a first nozzle inlet.

For example, injecting an adhesive may comprise injecting the adhesiveinto the first nozzle inlet with a positive pressure perpendicular to anaxial direction of the nozzle.

For another example, injecting an adhesive may comprise injecting theadhesive into the first nozzle inlet radially.

For another example, the method 1300 may further comprise removing theadhesive from the second outlet.

For another example, the method 1300 may further comprise dispensinganother fluid to a third inlet of the end effector, wherein a thirdoutlet of the end effector is coupled to a third nozzle inlet.

For example, dispensing another fluid may comprise dispensing a sealant.In other embodiments, the fluid may alternatively or additionally be adifferent type other than an adhesive or sealant, such as a lubricant.

For example, dispensing another fluid may comprise dispensing theanother fluid into the third inlet of nozzle with a positive pressureperpendicular to an axial direction of the nozzle.

For example, dispensing another fluid may comprise dispensing theanother fluid into the third inlet of nozzle radially.

For another example, the method 1300 may further comprise coupling theend effector to a robot.

For example, the method 1300 may be performed by a robot. For example,the method 1300 may be performed by a person.

For another example, the method 1300 may further comprise, after thenozzle is installed in the end effector, performing additional fluidapplications and vacuum operations by using the same nozzle.

For another example, the method 1300 may further comprise, applying apositive pressure to a second inlet of the end effector, where a secondoutlet of the end effector is coupled to a second nozzle inlet. Forexample, a second channel, a vacuum channel, may also be used for apositive pressure to expel a fluid drawn into a vacuum aperture during avacuum operation.

The previous description is provided to enable any person skilled in theart to practice the various aspects described herein. Variousmodifications to these exemplary embodiments presented throughout thisdisclosure will be readily apparent to those skilled in the art, and theconcepts disclosed herein may be applied to other techniques forprinting nodes and interconnects. Thus, the claims are not intended tobe limited to the exemplary embodiments presented throughout thedisclosure, but are to be accorded the full scope consistent with thelanguage claims.

As used herein in the specification and claims, including as used in theexamples and unless otherwise expressly specified, all numbers may beread as if prefaced by the word “about” or “approximately,” even if theterm does not expressly appear. The phrase “about” or “approximately”may be used when describing magnitude and/or position to indicate thatthe value and/or position described is within a reasonable expectedrange of values and/or positions. For example, a numeric value may havea value that is +/−0.1% of the stated value (or range of values), +/−1%of the stated value (or range of values), +/−2% of the stated value (orrange of values), +/−5% of the stated value (or range of values), +/−10%of the stated value (or range of values), etc. Any numerical rangerecited herein is intended to include all sub-ranges subsumed therein.

All structural and functional equivalents to the elements of theexemplary embodiments described throughout this disclosure that areknown or later come to be known to those of ordinary skill in the artare intended to be encompassed by the claims. Moreover, nothingdisclosed herein is intended to be dedicated to the public regardless ofwhether such disclosure is explicitly recited in the claims. No claimelement is to be construed under the provisions of 35 U.S.C. §112(f), oranalogous law in applicable jurisdictions, unless the element isexpressly recited using the phrase “means for” or, in the case of amethod claim, the element is recited using the phrase “step for.”

What is claimed is:
 1. An end effector for interfacing with a nozzle,the end effector comprising: a first end comprising a receptacle, thereceptacle being configured to receive the nozzle, the nozzle comprisingone or more nozzle retention features and a first nozzle inlet; one ormore retention features positioned along a perimeter of the receptacle,each of the one or more retention features being movable between a firstposition and a second position, each of the one or more retentionfeatures being configured to lock the nozzle by securing onto acorresponding one of the one or more nozzle retention features in thefirst position, and to release the nozzle in the second position; one ormore actuators configured to actuate the one or more retention featuresbetween the first position and the second position; and a first channelcomprising a first inlet and a first outlet, the first outlet beingpositioned inside the receptacle and being configured to be coupled tothe first nozzle inlet in the first position.
 2. The end effector ofclaim 1, wherein the one or more nozzle retention features comprises agroove, and wherein the one or more retention features comprises one ormore cleats.
 3. The end effector of claim 1, wherein the one or morenozzle retention features comprise one or more recesses, and wherein theone or more retention features comprise one or more protrusions.
 4. Theend effector of claim 1, wherein the one or more actuators include oneor more pneumatic actuators.
 5. The end effector of claim 4, wherein theone or more pneumatic actuators include one or more pneumatic cylinders.6. The end effector of claim 1, wherein the one or more actuatorsinclude one or more hydraulic actuators.
 7. The end effector of claim 1,wherein the one or more actuators include one or more electricalactuators.
 8. The end effector of claim 1, further comprising anexterior surface, and wherein the first inlet is positioned on theexterior surface.
 9. The end effector of claim 1, wherein the firstchannel is configured to inject a first fluid through the first outletinto the first nozzle inlet.
 10. The end effector of claim 1, whereinthe receptacle includes a side wall, and wherein the first outlet isdisposed on the side wall to enable a first fluid to be injected intothe first nozzle inlet with a positive pressure perpendicular to anaxial direction of the nozzle.
 11. The end effector of claim 1, whereinthe first outlet is disposed to enable an adhesive to be injected intothe first nozzle inlet radially.
 12. The end effector of claim 1,wherein the nozzle has an effector end, and wherein the receptacle has asize compatible with a size of the effector end of the nozzle to enablethe receptacle to fit into the effector end.
 13. The end effector ofclaim 1, further comprising a second end, wherein the second end isconfigured to be coupled to a robot.
 14. The end effector of claim 1,further comprising a second channel, wherein the nozzle furthercomprises a second nozzle inlet, wherein the second channel comprises asecond inlet and a second outlet, and wherein the second outlet isconfigured to be coupled to the second nozzle inlet in the firstposition.
 15. The end effector of claim 14, wherein the second channelis configured to facilitate removing adhesive first fluid from thenozzle.
 16. The end effector of claim 14, wherein the second inlet isconfigured to be coupled to a negative pressure source to apply vacuumto the second nozzle inlet.
 17. The end effector of claim 14, furthercomprising an exterior surface, and wherein the second inlet ispositioned on the exterior surface.
 18. The end effector of claim 14,wherein the first channel and the second channel are isolated from eachother.
 19. The end effector of claim 14, further comprising a thirdchannel, wherein the nozzle further comprises a third nozzle inlet,wherein the third channel comprises a third inlet and a third outlet.20. The end effector of claim 19, wherein the third outlet is configuredto be coupled to the third nozzle inlet in the first position.
 21. Theend effector of claim 19, wherein the third channel is configured todispense a sealant through the third outlet to the third nozzle inlet.22. The end effector of claim 19, further comprising an exteriorsurface, and wherein the third inlet is positioned on the exteriorsurface.
 23. The end effector of claim 19, wherein the receptacleincludes a side wall, and wherein the third outlet is disposed on theside wall to enable another fluid to be injected into the third nozzleinlet with a positive pressure perpendicular to an axial direction ofthe nozzle.
 24. The end effector of claim 19, wherein the third outletis disposed to enable a fluid to be injected into the third nozzle inletradially.
 25. The end effector of claim 19, wherein a diameter of thethird channel is larger than a diameter of the first channel.
 26. Theend effector of claim 19, wherein the first channel, the second channel,and the third channel are isolated from each other.
 27. The end effectorof claim 1 is an additively manufactured end effector.
 28. A method ofusing an end effector to interface with a nozzle, the method comprising:receiving the nozzle in a receptacle of the end effector; actuating oneor more retention features of the end effector to a first position tosecuring onto a corresponding one of one or more nozzle retentionfeatures to lock the nozzle; applying vacuum to a second inlet of theend effector, wherein a second outlet of the end effector is coupled toa second nozzle inlet; and injecting a first fluid to a first inlet ofthe end effector, wherein a first outlet of the end effector is coupledto a first nozzle inlet.
 29. The method of claim 28, wherein injectingan adhesive comprises injecting the adhesive into the first nozzle inletwith a positive pressure perpendicular to an axial direction of thenozzle.
 30. The method of claim 28, wherein injecting an adhesivecomprises injecting the adhesive into the first nozzle inlet radially.31. The method of claim 28, further comprising removing the adhesivefrom the second outlet.
 32. The method of claim 28, further comprisingdispensing another fluid to a third inlet of the end effector, wherein athird outlet of the end effector is coupled to a third nozzle inlet. 33.The method of claim 32, wherein dispensing another fluid comprisesdispensing a sealant.
 34. The method of claim 32, wherein dispensinganother fluid comprises dispensing the another fluid into the thirdinlet of nozzle with a positive pressure perpendicular to an axialdirection of the nozzle.
 35. The method of claim 32, wherein dispensinganother fluid comprises dispensing the another fluid into the thirdinlet of nozzle radially.
 36. The method of claim 28, further comprisingcoupling the end effector to a robot.
 37. The method of claim 28 isperformed by a robot.